Editor for images with depth data

ABSTRACT

The present disclosure provides at least an apparatus for a depth enhanced image editing. In an example, the apparatus includes a processor and a storage, comprising instructions that when executed with the processor cause the apparatus to store a received depth enhanced image. In an example, the depth enhanced image comprises image data, depth data, and calibration data. The apparatus may apply an edit to the image data and the calibration data without editing the depth data in response to a request for an image edit. The apparatus may further return an edited depth enhanced image.

TECHNICAL FIELD

The present techniques relate generally to editing images with depthdata. More specifically, the present techniques relate to editing imageswith depth data in a way that preserves the original depth data toprotect the depth data from unintended artifacts caused by the editingprocess.

BACKGROUND ART

Images including digital photographs and digital video can includevisual image data and depth data. As used herein, visual image caninclude color data such as Red Green Blue (RGB) levels, Cyan MagentaYellow and Key/black (CMYK) levels, brightness, value, and othercharacteristics that are viewable in a 2D image. Depth data can beassociated with an image and can include a measured distance of theimage from a camera capturing the image. While a camera model may beused as a fixed point of distance in captured images, a specified pointmay also be used if an image is generated.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic of an example depth image edit;

FIG. 2 is a schematic of an example depth image edit model for arotation operation;

FIG. 3 is a schematic for display of an edited depth image;

FIG. 4 is a block diagram illustrating an example computing device forediting depth images;

FIG. 5 is a flow chart illustrating a method for editing depth images;and

FIG. 6 is a block diagram showing computer readable media that storescode for editing depth images.

The same numbers are used throughout the disclosure and the figures toreference like components and features. Numbers in the 100 series referto features originally found in FIG. 1; numbers in the 200 series referto features originally found in FIG. 2; and so on.

DESCRIPTION OF THE EMBODIMENTS

A depth enhanced photograph is created by assembling images from bothimage data, such as red green blue data (RGB), and depth data. Takentogether this example depth enhanced photograph may be referred to as ared green blue depth (RGBD) image. While the term photograph is usedhere, additional image types are intended. The actions performed with aphotograph could be done with generated images and captured images notobtained through photography technology directly. Similarly, many typesof image data and storage formats can contain this information.

As disclosed herein, images with depth data may be edited where theedits affect the image data and the calibration data in the container.Edits that may use the disclosed technique include rotation, cropping,flipping, skewing, shearing and any other continuous linear operations,for example. Linear transformations and operations affecting the imagedata and the calibration data can leave original depth data untouchedand thereby avoid inflicting errors through edits directly made to thedepth data.

Applying edits equally to image data and depth data can create errors inthe depth data that may compound and accumulate. For example, depth dataof an image can experience errors when depth data resolution is smallerthan the image data. When depth data has a lower resolution, operationslike rotation and scaling affect both depth data and image data. Thelarger resolution of image data can effect these changes with highgranularity and little lost in distortion. Depth data with lowerresolution experiences distortion with a great loss of data since eachdata unit affected represents a larger share of the depth datacorresponding to an image. Further, an interpolation method applied todepth data through a “nearest neighbor” approach may exhibit “tears” onobject boundaries. Further, using a smoother linear/bi-cubicalinterpolation method might yield invalid depth values on objectboundaries. Each of these errors for an edit on depth data directly canintroduce errors that can compound and accumulate through the frequencyof the edits being repeated and combined.

In this disclosure, numerous specific details are set forth, such asexamples of specific types of processors and system configurations,specific hardware structures, specific instruction types, specificsystem components, etc. in order to provide a thorough understanding ofthe present disclosure. It can be apparent, however, to one skilled inthe art that these specific details need not be employed to practice thepresently disclosed techniques. In other instances, well knowncomponents or methods, such as specific and alternative processorarchitectures, specific logic circuits/code for described algorithms,specific firmware code, specific interconnect operation, specific logicconfigurations, specific manufacturing techniques and materials,specific compiler implementations, specific expression of algorithms incode, specific power down and gating techniques/logic and other specificoperational details of computer system haven't been described in detailin order to avoid unnecessarily obscuring the presently disclosedtechniques.

FIG. 1 is a schematic of an example depth image edit 100. Depth imageedit 100 may be a continuous linear operation such as a rotation, flip,or shear edit. The subject of the edit 100 can be an image with depthdata which can be stored in a container 102. The container 102 includesimage data 104, depth data 106, and calibration data 108. Image data 104can be data that is visual in nature and can include color and intensityinformation. One example of image data 104 includes RGB data. Depth data106 refers to a depth from a fixed point to an image. In an example, thefixed point may be a camera capturing the image. The fixed point may bean arbitrary point in the case of generated images. Depth data 106 caninclude information captured from a camera or from a physically separateand remote source. Depth data 106 can include depth information gatheredfrom different technologies including LIDAR (Light Detection and Rangingor Light Imaging, Detection and Ranging), RADAR (Radio Detection andRanging or Radio Direction and Ranging), or infrared technologies, forexample.

The image data 104 and depth data 106 can be combined to create a depthenhanced image. Depth enhanced images and photographs can be stored inthe container 102, and may be stored in a format such as an eXtensibleDevice Metadata (XDM) format. Containers such as container 102 usingformats other than the XDM format can also be used, with the containerformat including image data 104, depth data 106, and calibration data108. The calibration data 108 can be camera calibration data in the caseof photographs, for example. The calibration data 108 can describegeometric relations between the image data and the depth data of animage. Calibration data 108 can be used to connect and align image data104 and depth data 106. For example, calibration data 108 can be used toalign RGB image data and depth data 106 on a single frame.

An image editor 110 can be used to perform depth image edit 100. Theperformance of depth image edit 100 can be caused by the carrying out ofediting instructions 112 stored in the image editor 110. The editinginstructions 112 are shown in FIG. 1, for example, as affecting theimage data 104 and the calibration data 108 and not the depth data 106.In this way, the depth data 106 is not itself affected, however themapping of the image data 104 to the depth data 106 may be changedthrough the alteration of the calibration data 108. Once the image data104 and calibration data 108 have been edited, then it is possible for astandalone application using image data 104, depth data 106, andcalibration data 108 to align the original depth data to the intendededit using the updated calibration data 108. In an example, in the caseof an image rotation, the calibration data 108 can be edited so that thecalibration data reads as if the camera itself were tilted to theintended degree during editing. Calibration data 108 can have, forexample, large floating point data types and need not be displayed, andaccordingly does not need to be rounded or averaged to a shortened orrounded value due to editing. This can allow repeated edits to beapplied to the calibration data 108 without accumulation of error.Further, the original depth data can be preserved for later referenceand an image can be reverted back to an original state.

FIG. 2 is a schematic of an example depth image edit model 200 for arotation operation. While a rotation operation is shown here, otherlinear transformations may use similar techniques.

A depth image edit model 200 is shown in FIG. 2 using a pinhole cameramodel to illustrate a rotation operation by editing image data such asimage data 104 and calibration data such as calibration data 108, forexample, while leaving depth data such as depth data 106 intact.

Given an original image 202 where an image such as the letter ‘P’ is tobe rotated, the edited image 204 shows a rotated version of the letter‘P’. As discussed above, the appearance of the edited image 204 can beedited through operations performed on the image data 104, for example.If the image is a depth enhanced photograph and the depth image editmodel 200 is making use of a pinhole camera model, an image dataadjustment 206 may be used to edit image data. The image data adjustment206 illustrates how the image itself, rather than data related to acamera orientation, can be edited, with the arrow indicating therotation of the original image 202.

A rotation operation on a depth enhanced photograph may also perform acalibration data adjustment 208. The calibration data adjustment 208illustrates that the rotation is not applied to the original image 202,but through a rotation of an illustrated camera. The rotation of theillustrated camera indicated in the calibration data adjustment 208represents the edits to camera data that indicates a proper calibrationand alignment of depth and image data.

The results of the image data adjustment 206 and the calibration dataadjustment 208 are seen in the adjusted image data model 210 and theadjusted calibration data model 212, respectively. As the image dataadjustment 206 affected the original image 202 rather than theorientation of a camera capturing that image, the illustration of theadjusted image data model 210 shows the document rather than the cameraturned. Comparatively, the adjusted calibration data model 212 shows arotation of a model camera, such that, from the model camera'sperspective, the original image 202 would appear to have the depth ofthe edited image 204, while the depth data of the original image 202 isintact and un-rotated.

In an example of a rotation operation, an original image 202 can berotated clockwise θ radians. For the other models, such as calibrationdata models, representing different types of data, rotation may besimulated by the cameras themselves being rotated by θ radianscounter-clockwise, without rotating the images themselves.

Rotating calibration data includes generating a 2×2 rotation matrix,such as

$R = \begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} \\{\sin\;\theta} & {\cos\;\theta}\end{bmatrix}$and a 3×3 rotation matrix, such as

$R^{\prime} = \begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} & 0 \\{\sin\;\theta} & {\cos\;\theta} & 0 \\0 & 0 & 1\end{bmatrix}$where R and R′ are matrices used in further calculations of a rotationoperation. These operations can include an update to intrinsicparameters of a camera model through an update to data about the camerastored in the calibration data.

As used herein, intrinsic parameters in a pinhole camera model caninclude information used to model the data captured by a single cameraand its settings. The intrinsic parameters in a pinhole camera model caninclude a model of the camera optics such as the type of lens and thetype of image capture. Intrinsic parameters in a pinhole camera modelcan include the number of pixels to be captured, the size of the image,and the sensor width and height. Intrinsic parameters can include aprincipal point which can be expressed in the form of coordinate dataindicating the center of the lens. Intrinsic parameters about sensorsmay be stored as variables Px and Py, which can be used to indicate adisplacement of the sensor from its principal point. Intrinsicparameters can include focal length of a camera model and a radialdispersion.

For example, an intrinsic parameters update can include assigning acamera model a principal point (P) indicating the location of projectionof the focal point on the image obtained by the camera during imagecapture. In an example, principal point P can be a 2D vector and P canbe at the center of the camera model's image. The update to theintrinsic parameters can then multiply the matrix R by the principalpoint P to obtain updated intrinsic parameters.

In another example, a camera model can update a radial distortionparameter (K). The initial radial distortion vector may be a 2D vectorfound in the camera. In this example, the camera model can update theradial distortion by multiplying the vector K by the matrix R for anupdate to this intrinsic parameter of the camera model.

In addition to an update of intrinsic parameters in a calibration dataedit operation, such as a rotation, the extrinsic parameters can updatein an edit operation of a depth enhanced image. In an example, thetranslation vector can be a 3D vector. This extrinsic variable can beupdated by multiplying the translation vector T and the matrix R′ inorder to update this extrinsic parameter.

Transformation operations using a camera model may also involvegeneration of a rotation matrix Q indicating the rotation lineartransformation from one camera vantage point to another vantage point bythe same or another camera. In an example, rotation matrix Q can be a3×3 rotation matrix. Updates to this rotation matrix in the camera modelcan be accomplished through multiplication of the rotation matrix Q withthe matrix R′.

Through these matrix operations and linear transformations applied toboth intrinsic and extrinsic parameters of a camera, calibration datacan be updated to correspond to the edits applied to image data. As aresult of these or other linear transformations, an alignment processcan use the calibration data to align a camera modeling image data and acamera modeling depth data. While these techniques can be used forrotation, similar linear transformations to intrinsic and extrinsicparameters of a camera can be used for other editing operations,including cropping and flipping an image. In these other operations, thematrices used in these operations could be replaced with matricesappropriate for the specific transformation requested.

FIG. 3 is a schematic for display 300 of an edited depth image. Likenumbered items are as described in FIG. 1.

The image using application 302 can be an application that displays animage and depth data. This can include virtual reality and augmentedreality applications, for example. The image using application 302 mayhave received a depth enhanced image stored in the container 102. Asshown here, the depth enhanced image has been edited and thus includesedited image data 304, the depth data 106 which has not been edited, aswell as edited calibration data 306. The image using application 302 cancombine this data with an image combiner 308 which intakes the editedimage data 304, the depth data 106, and the edited calibration data 306.The image combiner 308 can use the edited calibration data 306 to alignthe edited image data 304 to the depth data 106 which has not beenedited. The transformations caused by the edits to the calibration datacan affect the alignment of the edited image data 304 to the depth data106 and makes it appear as though the depth data underwent thecorresponding edits as the edited image data 304.

In an example, an application that can handle image data, depth data,and calibration data can match each point of image data to a point ofdepth data using the calibration data. As discussed above, by editingthe calibration data, any application with these abilities can still seethe edits, with none of the loss or error compounding introduced bydoing edits on the image data, and instead using the calibration data.

FIG. 4 is a block diagram illustrating an example image editingapparatus and device for editing depth images. The computing device 400may be, for example, a laptop computer, desktop computer, tabletcomputer, mobile device, or server, among others. The computing device400 may include a central processing unit (CPU) 402 that is configuredto execute stored instructions, as well as a memory device 404 thatstores instructions that are executable by the CPU 402. The CPU 402 maybe coupled to the memory device 404 by a bus 406. Additionally, the CPU402 can be a single core processor, a multi-core processor, a computingcluster, or any number of other configurations. Furthermore, thecomputing device 400 may include more than one CPU 402. The memorydevice 404 can include random access memory (RAM), read only memory(ROM), flash memory, or any other suitable memory systems. For example,the memory device 404 may include dynamic random access memory (DRAM).

The computing device 400 may also include a graphics processing unit(GPU) 408. As shown, the CPU 402 may be coupled through the bus 406 tothe GPU 408. The GPU 408 may be configured to perform any number ofgraphics operations within the computing device 400. For example, theGPU 408 may be configured to render or manipulate graphics images,graphics frames, videos, or the like, to be displayed to a user of thecomputing device 400.

The memory device 404 can include random access memory (RAM), read onlymemory (ROM), flash memory, or any other suitable memory systems. Forexample, the memory device 404 may include dynamic random access memory(DRAM).

The CPU 402 may also be connected through the bus 406 to an input/output(I/O) device interface 410 configured to connect the computing device400 to one or more I/O devices 412. The I/O devices 412 may include, forexample, a keyboard and a pointing device, wherein the pointing devicemay include a touchpad or a touchscreen, among others. The I/O devices412 may be built-in components of the computing device 400, or may bedevices that are externally connected to the computing device 400. Insome examples, the memory 404 may be communicatively coupled to I/Odevices 412 through direct memory access (DMA). The I/O devices 412 mayalso be a camera for detecting displayed calibration-pattern images. Thecamera can be a camera detecting visible light, infrared light, or anycombination of electromagnetic detectable signals. The I/O devices 412could include multiple camera devices including, for example, a depthcamera and an RGB camera. The cameras may generate image data, depthdata, and corresponding calibration data. In an example, an applicationrunning on the CPU 402 may use the techniques described herein to editor otherwise modify the image data.

The CPU 402 may also be linked through the bus 406 to a displayinterface 414 configured to connect the computing device 400 to adisplay device 416. The display device 416 may include a display screenthat is a built-in component of the computing device 400. The displaydevice 416 may also include a computer monitor, television, orprojector, among others, that is internal to or externally connected tothe computing device 400. The projector may display a storedcalibration-pattern image to a projection surface.

The computing device also includes a storage device 418. The storagedevice 418 is a physical memory such as a hard drive, an optical drive,a solid state storage device, a thumb drive, an array of drives, or anycombinations thereof. The storage device 418 may also include remotestorage drives.

The computing device 400 may also include a network interface controller(NIC) 420. The NIC 420 may be configured to connect the computing device400 through the bus 406 to a network 422. The network 422 may be a widearea network (WAN), local area network (LAN), or the Internet, amongothers. In some examples, the device may communicate with other devicesthrough a wireless technology. For example, the device may communicatewith other devices via a wireless local area network connection. In someexamples, the device may connect and communicate with other devices viaBluetooth® or similar technology.

A CPU 402 can execute instructions in the storage 418 to activate adepth image storer 424 that instructs the storage a received depthenhanced image comprising image data, depth data, and calibration data.In an example, the depth data indicates a distance from a fixed point,where the fixed point is used as a principal point in the calibrationdata. The calibration data may be stored as a floating point number andthe image data may be stored as integer values.

A CPU 402 can execute instructions in the storage 418 to activate anedit applier 426 that instructs the application of an edit to the imagedata and the calibration data without editing the depth data in responseto a request for an image edit. In an example, the edit is a lineartransformation of intrinsic parameter through matrix multiplication. Inan example, the edit is a linear transformation of extrinsic parameterthrough matrix multiplication. The edit may be linear transformations ofmany varieties and could include at least one or more of rotation,cropping, flipping, skewing, or shearing.

A CPU 402 can execute instructions in the storage 418 to activate adepth image returner 428 that to instructs the returning of an editeddepth enhanced image in a container. In an example, the edited depthenhanced image includes an original set of calibration data so thatlinear transformation operations made on the depth data, the image data,and calibration data can be reverted to an original depth enhancedimage. The container may further include an indicator that the editedcalibration data is read prior to the depth data and edited image data.The container may be formatted to have an extensible device metadataformat.

The block diagram of FIG. 4 is not intended to indicate that thecomputing device 400 is to include all of the components shown in FIG.4. Rather, the computing device 400 can include fewer or additionalcomponents not illustrated in FIG. 4, such as additional USB devices,additional guest devices, and the like. The computing device 400 mayinclude any number of additional components not shown in FIG. 4,depending on the details of the specific implementation. Furthermore,any of the functionalities of the CPU 402 may be partially, or entirely,implemented in hardware and/or in a processor.

FIG. 5 is a flow chart illustrating a method for editing depth images.The example method is generally referred to by the reference number 500and can be implemented using the apparatus 400 of FIG. 5 above.

At block 502, the method includes storing a received depth enhancedimage comprising image data, depth data, and calibration data. In anexample, the depth data indicates a distance from a fixed point, wherethe fixed point is used as a principal point in the calibration data.The calibration data may be stored as a floating point number and theimage data may be stored as integer values.

At block 504, the method includes applying an edit to the image data andthe calibration data without editing the depth data in response to arequest for an image edit. In an example, the edit is a lineartransformation of intrinsic parameter through matrix multiplication. Inan example, the edit is a linear transformation of extrinsic parameterthrough matrix multiplication. The edit may be linear transformations ofmany varieties and could include at least one or more of rotation,cropping, flipping, skewing, or shearing.

At block 506, the method includes returning an edited depth enhancedimage in a container. In an example, the edited depth enhanced imageincludes an original set of calibration data so that lineartransformation operations made on the depth data, the image data, andcalibration data can be reverted to an original depth enhanced image.The container may further include an indicator that the editedcalibration data is read prior to the depth data and edited image data.The container may be formatted to have an extensible device metadataformat.

FIG. 6 is a block diagram showing computer readable media that storescode for editing depth images. The computer readable media 600 may beaccessed by a processor 602 over a computer bus 604. Furthermore, thecomputer readable medium 600 may include code configured to direct theprocessor 602 to perform the methods described herein. In someembodiments, the computer readable media 600 may be non-transitorycomputer readable media. In some examples, the computer readable media600 may be storage media. However, in any case, the computer readablemedia do not include transitory media such as carrier waves, signals,and the like.

The block diagram of FIG. 6 is not intended to indicate that thecomputer readable media 600 is to include all of the components shown inFIG. 6. Further, the computer readable media 600 may include any numberof additional components not shown in FIG. 6, depending on the detailsof the specific implementation.

The various software components discussed herein may be stored on one ormore computer readable media 600, as indicated in FIG. 6. For example, adepth image storer 606 can be used to store a received depth enhancedimage comprising image data, depth data, and calibration data. In anexample, the depth data indicates a distance from a fixed point, wherethe fixed point is used as a principal point in the calibration data.The calibration data may be stored as a floating point number and theimage data may be stored as integer values.

The processor 602 can execute instructions stored in the edit applier608 to apply an edit to the image data and the calibration data withoutediting the depth data in response to a request for an image edit. In anexample, the edit is a linear transformation of intrinsic parameterthrough matrix multiplication. In an example, the edit is a lineartransformation of extrinsic parameter through matrix multiplication. Theedit may be linear transformations of many varieties and could includeat least one or more of rotation, cropping, flipping, skewing, orshearing.

The processor 602 can execute instructions stored in the depth imagereturner 610 to return an edited depth enhanced image in a container. Inan example, the edited depth enhanced image includes an original set ofcalibration data so that linear transformation operations made on thedepth data, the image data, and calibration data can be reverted to anoriginal depth enhanced image. The container may further include anindicator that the edited calibration data is read prior to the depthdata and edited image data. The container may be formatted to have anextensible device metadata format.

The block diagram of FIG. 6 is not intended to indicate that thecomputer readable media 600 is to include all of the components shown inFIG. 6. Further, the computer readable media 600 may include any numberof additional components not shown in FIG. 6, depending on the detailsof the specific implementation.

EXAMPLES Example 1

A system of one or more computers can be configured to performparticular operations or actions by virtue of having software, firmware,hardware, or a combination of them installed on the system that inoperation causes or cause the system to perform the actions. One or morecomputer programs can be configured to perform particular operations oractions by virtue of including instructions that, when executed by dataprocessing apparatus, cause the apparatus to perform the actions. Onegeneral aspect includes an image editing apparatus for a depth enhancedimage including: a processor, a storage including instructions that whenexecuted with the processor cause the apparatus to: The image editingapparatus also includes store a received depth enhanced image includingimage data, depth data, and calibration data. The image editingapparatus also includes apply an edit to the image data and thecalibration data without editing the depth data in response to a requestfor an image edit. The image editing apparatus also includes return anedited depth enhanced image. Other embodiments of this aspect includecorresponding computer systems, apparatus, and computer programsrecorded on one or more computer storage devices, each configured toperform the actions of the methods.

Implementations may include one or more of the following features. Theapparatus where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The apparatus where the edit isa linear transformation of an extrinsic parameter through matrixmultiplication. The apparatus where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The apparatus where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Theapparatus including storage to store the calibration data as a floatingpoint number. The apparatus where the image data is stored as integervalues. The apparatus where the edited depth enhanced image includes anoriginal set of calibration data with linear transformation operationsmade on the depth data, the image data, and calibration data for thereversion to an original depth enhanced image. The apparatus where theedited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The apparatus where the edited depthenhanced image is returned in a container formatted to have anextensible device metadata format. The method where the edit is a lineartransformation of intrinsic parameter through matrix multiplication. Themethod where the edit is a linear transformation of extrinsic parameterthrough matrix multiplication. The method where the depth data indicatesa distance from a fixed point, where the fixed point is used as aprincipal point in the calibration data. The method where the edit is atleast one or more of rotation, cropping, flipping, skewing, or shearing.The method including storing the calibration data in a storage as afloating point number. The method where the image data is stored asinteger values. The method where the edited depth enhanced imageincludes an original set of calibration data with linear transformationoperations made on the depth data, the image data, and calibration datafor the reversion to an original depth enhanced image. The method wherethe edited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The method where the edited depth enhancedimage is returned in a container formatted to have an extensible devicemetadata format. The computer-readable medium where the edit is a lineartransformation of intrinsic parameter through matrix multiplication. Thecomputer-readable medium where the edit is a linear transformation ofextrinsic parameter through matrix multiplication. The computer-readablemedium where the depth data indicates a distance from a fixed point,where the fixed point is used as a principal point in the calibrationdata. The computer-readable medium where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Thecomputer-readable medium where the calibration data is stored in thecomputer-readable medium as a floating point number. Thecomputer-readable medium where the image data is stored as integervalues. The computer-readable medium where the edited depth enhancedimage includes an original set of calibration data with lineartransformation operations made on the depth data, the image data, andcalibration data for the reversion to an original depth enhanced image.The computer-readable medium where the edited depth enhanced image isreturned in a container including an indicator that the editedcalibration data is read prior to the depth data and edited image data.The computer-readable medium where the edited depth enhanced image isreturned in a container formatted to have an extensible device metadataformat. The system where the edit is a linear transformation of anintrinsic parameter through matrix multiplication. The system where theedit is a linear transformation of an extrinsic parameter through matrixmultiplication. The system where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The system where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. The systemincluding storage to store the calibration data as a floating pointnumber. The system where the image data is stored as integer values. Thesystem where the edited depth enhanced image includes an original set ofcalibration data with linear transformation operations made on the depthdata, the image data, and calibration data for the reversion to anoriginal depth enhanced image. The system where the edited depthenhanced image is returned in a container including an indicator thatthe edited calibration data is read prior to the depth data and editedimage data. The system where the edited depth enhanced image is returnedin a container formatted to have an extensible device metadata format.The apparatus where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The apparatus where the edit isa linear transformation of an extrinsic parameter through matrixmultiplication. The apparatus where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The apparatus where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Theapparatus including means for storing calibration data as a floatingpoint number. The apparatus where the image data is stored as integervalues. The apparatus where the edited depth enhanced image includes anoriginal set of calibration data with linear transformation operationsmade on the depth data, the image data, and calibration data for thereversion to an original depth enhanced image. The apparatus where theedited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The apparatus where the edited depthenhanced image is returned in a container formatted to have anextensible device metadata format. Implementations of the describedtechniques may include hardware, a method or process, or computersoftware on a computer-accessible medium.

Example 2

One general aspect includes a method for editing depth enhanced imagesincluding: storing a received depth enhanced image including image data,depth data, and calibration data. The method also includes applying anedit to the image data and the calibration data without editing thedepth data in response to a request for an image edit. The method alsoincludes returning an edited depth enhanced image. Other embodiments ofthis aspect include corresponding computer systems, apparatus, andcomputer programs recorded on one or more computer storage devices, eachconfigured to perform the actions of the methods.

Implementations may include one or more of the following features. Themethod where the edit is a linear transformation of intrinsic parameterthrough matrix multiplication. The method where the edit is a lineartransformation of extrinsic parameter through matrix multiplication. Themethod where the depth data indicates a distance from a fixed point,where the fixed point is used as a principal point in the calibrationdata. The method where the edit is at least one or more of rotation,cropping, flipping, skewing, or shearing. The method including storingthe calibration data in a storage as a floating point number. The methodwhere the image data is stored as integer values. The method where theedited depth enhanced image includes an original set of calibration datawith linear transformation operations made on the depth data, the imagedata, and calibration data for the reversion to an original depthenhanced image. The method where the edited depth enhanced image isreturned in a container including an indicator that the editedcalibration data is read prior to the depth data and edited image data.The method where the edited depth enhanced image is returned in acontainer formatted to have an extensible device metadata format. Thecomputer-readable medium where the edit is a linear transformation ofintrinsic parameter through matrix multiplication. The computer-readablemedium where the edit is a linear transformation of extrinsic parameterthrough matrix multiplication. The computer-readable medium where thedepth data indicates a distance from a fixed point, where the fixedpoint is used as a principal point in the calibration data. Thecomputer-readable medium where the edit is at least one or more ofrotation, cropping, flipping, skewing, or shearing. Thecomputer-readable medium where the calibration data is stored in thecomputer-readable medium as a floating point number. Thecomputer-readable medium where the image data is stored as integervalues. The computer-readable medium where the edited depth enhancedimage includes an original set of calibration data with lineartransformation operations made on the depth data, the image data, andcalibration data for the reversion to an original depth enhanced image.The computer-readable medium where the edited depth enhanced image isreturned in a container including an indicator that the editedcalibration data is read prior to the depth data and edited image data.The computer-readable medium where the edited depth enhanced image isreturned in a container formatted to have an extensible device metadataformat. The system where the edit is a linear transformation of anintrinsic parameter through matrix multiplication. The system where theedit is a linear transformation of an extrinsic parameter through matrixmultiplication. The system where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The system where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. The systemincluding storage to store the calibration data as a floating pointnumber. The system where the image data is stored as integer values. Thesystem where the edited depth enhanced image includes an original set ofcalibration data with linear transformation operations made on the depthdata, the image data, and calibration data for the reversion to anoriginal depth enhanced image. The system where the edited depthenhanced image is returned in a container including an indicator thatthe edited calibration data is read prior to the depth data and editedimage data. The system where the edited depth enhanced image is returnedin a container formatted to have an extensible device metadata format.The apparatus where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The apparatus where the edit isa linear transformation of an extrinsic parameter through matrixmultiplication. The apparatus where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The apparatus where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Theapparatus including means for storing calibration data as a floatingpoint number. The apparatus where the image data is stored as integervalues. The apparatus where the edited depth enhanced image includes anoriginal set of calibration data with linear transformation operationsmade on the depth data, the image data, and calibration data for thereversion to an original depth enhanced image. The apparatus where theedited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The apparatus where the edited depthenhanced image is returned in a container formatted to have anextensible device metadata format. Implementations of the describedtechniques may include hardware, a method or process, or computersoftware on a computer-accessible medium.

Example 3

One general aspect includes a tangible, non-transitory,computer-readable medium including instructions that, when executed by aprocessor, direct the processor to: store a received depth enhancedimage including image data, depth data, and calibration data. Thetangible also includes apply an edit to the image data and thecalibration data without editing the depth data in response to a requestfor an image edit. The tangible also includes return an edited depthenhanced image. Other embodiments of this aspect include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

Implementations may include one or more of the following features. Thecomputer-readable medium where the edit is a linear transformation ofintrinsic parameter through matrix multiplication. The computer-readablemedium where the edit is a linear transformation of extrinsic parameterthrough matrix multiplication. The computer-readable medium where thedepth data indicates a distance from a fixed point, where the fixedpoint is used as a principal point in the calibration data. Thecomputer-readable medium where the edit is at least one or more ofrotation, cropping, flipping, skewing, or shearing. Thecomputer-readable medium where the calibration data is stored in thecomputer-readable medium as a floating point number. Thecomputer-readable medium where the image data is stored as integervalues. The computer-readable medium where the edited depth enhancedimage includes an original set of calibration data with lineartransformation operations made on the depth data, the image data, andcalibration data for the reversion to an original depth enhanced image.The computer-readable medium where the edited depth enhanced image isreturned in a container including an indicator that the editedcalibration data is read prior to the depth data and edited image data.The computer-readable medium where the edited depth enhanced image isreturned in a container formatted to have an extensible device metadataformat. The system where the edit is a linear transformation of anintrinsic parameter through matrix multiplication. The system where theedit is a linear transformation of an extrinsic parameter through matrixmultiplication. The system where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The system where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. The systemincluding storage to store the calibration data as a floating pointnumber. The system where the image data is stored as integer values. Thesystem where the edited depth enhanced image includes an original set ofcalibration data with linear transformation operations made on the depthdata, the image data, and calibration data for the reversion to anoriginal depth enhanced image. The system where the edited depthenhanced image is returned in a container including an indicator thatthe edited calibration data is read prior to the depth data and editedimage data. The system where the edited depth enhanced image is returnedin a container formatted to have an extensible device metadata format.The apparatus where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The apparatus where the edit isa linear transformation of an extrinsic parameter through matrixmultiplication. The apparatus where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The apparatus where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Theapparatus including means for storing calibration data as a floatingpoint number. The apparatus where the image data is stored as integervalues. The apparatus where the edited depth enhanced image includes anoriginal set of calibration data with linear transformation operationsmade on the depth data, the image data, and calibration data for thereversion to an original depth enhanced image. The apparatus where theedited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The apparatus where the edited depthenhanced image is returned in a container formatted to have anextensible device metadata format. Implementations of the describedtechniques may include hardware, a method or process, or computersoftware on a computer-accessible medium.

Example 4

One general aspect includes a system for a depth enhanced imageincluding: a processor, a storage including instructions that whenexecuted with the processor cause the apparatus to store a receiveddepth enhanced image including image data, depth data, and calibrationdata. The system also includes apply an edit to the image data and thecalibration data without editing the depth data in response to a requestfor an image edit. The system also includes return an edited depthenhanced image. Other embodiments of this aspect include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

Implementations may include one or more of the following features. Thesystem where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The system where the edit is alinear transformation of an extrinsic parameter through matrixmultiplication. The system where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The system where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. The systemincluding storage to store the calibration data as a floating pointnumber. The system where the image data is stored as integer values. Thesystem where the edited depth enhanced image includes an original set ofcalibration data with linear transformation operations made on the depthdata, the image data, and calibration data for the reversion to anoriginal depth enhanced image. The system where the edited depthenhanced image is returned in a container including an indicator thatthe edited calibration data is read prior to the depth data and editedimage data. The system where the edited depth enhanced image is returnedin a container formatted to have an extensible device metadata format.The apparatus where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The apparatus where the edit isa linear transformation of an extrinsic parameter through matrixmultiplication. The apparatus where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The apparatus where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Theapparatus including means for storing calibration data as a floatingpoint number. The apparatus where the image data is stored as integervalues. The apparatus where the edited depth enhanced image includes anoriginal set of calibration data with linear transformation operationsmade on the depth data, the image data, and calibration data for thereversion to an original depth enhanced image. The apparatus where theedited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The apparatus where the edited depthenhanced image is returned in a container formatted to have anextensible device metadata format. Implementations of the describedtechniques may include hardware, a method or process, or computersoftware on a computer-accessible medium.

Example 5

One general aspect includes a system for a depth enhanced imageincluding: a processor, a storage including instructions that whenexecuted with the processor cause the apparatus to store a receiveddepth enhanced image including image data, depth data, and calibrationdata. The system also includes apply an edit to the image data and thecalibration data without editing the depth data in response to a requestfor an image edit. The system also includes return an edited depthenhanced image. Other embodiments of this aspect include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

Implementations may include one or more of the following features. Theapparatus where the edit is a linear transformation of an intrinsicparameter through matrix multiplication. The apparatus where the edit isa linear transformation of an extrinsic parameter through matrixmultiplication. The apparatus where the depth data indicates a distancefrom a fixed point, where the fixed point is used as a principal pointin the calibration data. The apparatus where the edit is at least one ormore of rotation, cropping, flipping, skewing, or shearing. Theapparatus including means for storing calibration data as a floatingpoint number. The apparatus where the image data is stored as integervalues. The apparatus where the edited depth enhanced image includes anoriginal set of calibration data with linear transformation operationsmade on the depth data, the image data, and calibration data for thereversion to an original depth enhanced image. The apparatus where theedited depth enhanced image is returned in a container including anindicator that the edited calibration data is read prior to the depthdata and edited image data. The apparatus where the edited depthenhanced image is returned in a container formatted to have anextensible device metadata format. Implementations of the describedtechniques may include hardware, a method or process, or computersoftware on a computer-accessible medium.

While the present techniques have been described with respect to alimited number of embodiments, those skilled in the art can appreciatenumerous modifications and variations therefrom. It is intended that theappended claims cover all such modifications and variations as fallwithin the true spirit and scope of this present techniques.

A module as used herein refers to any combination of hardware, software,and/or firmware. As an example, a module includes hardware, such as amicro-controller, associated with a non-transitory medium to store codeadapted to be executed by the micro-controller. Therefore, reference toa module, in one embodiment, refers to the hardware, which isspecifically configured to recognize and/or execute the code to be heldon a non-transitory medium. Furthermore, in another embodiment, use of amodule refers to the non-transitory medium including the code, which isspecifically adapted to be executed by the microcontroller to performpredetermined operations. In yet another embodiment, the term module (inthis example) may refer to the combination of the microcontroller andthe non-transitory medium. Often module boundaries that are illustratedas separate commonly vary and potentially overlap. For example, a firstand a second module may share hardware, software, firmware, or acombination thereof, while potentially retaining some independenthardware, software, or firmware. In one embodiment, use of the termlogic includes hardware, such as transistors, registers, or otherhardware, such as programmable logic devices.

The embodiments of methods, hardware, software, firmware or code setforth above may be implemented via instructions or code stored on amachine-accessible, machine readable, computer accessible, or computerreadable medium which are executable by a processing element. Anon-transitory machine-accessible/readable medium includes any mechanismthat provides (i.e., stores and/or transmits) information in a formreadable by a machine, such as a computer or electronic system. Forexample, a non-transitory machine-accessible medium includesrandom-access memory (RAM), such as static RAM (SRAM) or dynamic RAM(DRAM); ROM; magnetic or optical storage medium; flash memory devices;electrical storage devices; optical storage devices; acoustical storagedevices; other form of storage devices for holding information receivedfrom transitory (propagated) signals (e.g., carrier waves, infraredsignals, digital signals); etc., which are to be distinguished from thenon-transitory mediums that may receive information there from.

Instructions used to program logic to perform embodiments of the presenttechniques may be stored within a memory in the system, such as DRAM,cache, flash memory, or other storage. Furthermore, the instructions canbe distributed via a network or by way of other computer readable media.Thus a machine-readable medium may include any mechanism for storing ortransmitting information in a form readable by a machine (e.g., acomputer), but is not limited to, floppy diskettes, optical disks,Compact Disc, Read-Only Memory (CD-ROMs), and magneto-optical disks,Read-Only Memory (ROMs), Random Access Memory (RAM), ErasableProgrammable Read-Only Memory (EPROM), Electrically ErasableProgrammable Read-Only Memory (EEPROM), magnetic or optical cards, flashmemory, or a tangible, machine-readable storage used in the transmissionof information over the Internet via electrical, optical, acoustical orother forms of propagated signals (e.g., carrier waves, infraredsignals, digital signals, etc.). Accordingly, the computer-readablemedium includes any type of tangible machine-readable medium suitablefor storing or transmitting electronic instructions or information in aform readable by a machine (e.g., a computer).

In the foregoing specification, a detailed description has been givenwith reference to specific embodiments. It may be evident that variousmodifications and changes may be made thereto without departing from thebroader spirit and scope of the present techniques as set forth in theappended claims. The specification and drawings are, accordingly, to beregarded in an illustrative sense rather than a restrictive sense.Furthermore, the foregoing use of embodiment and other language does notnecessarily refer to the same embodiment or the same example, but mayrefer to different and distinct embodiments, as well as potentially thesame embodiment.

What is claimed is:
 1. An image editing apparatus for a depth enhanced image comprising: a processor; a storage including instructions that when executed by the processor cause the apparatus to: store a received depth enhanced image including image data, depth data, and calibration data; apply an edit to the image data and the calibration data without editing the depth data in response to a request for an image edit; and return an edited depth enhanced image.
 2. The apparatus of claim 1, wherein the edit is a linear transformation of an intrinsic parameter through matrix multiplication.
 3. The apparatus of claim 1, wherein the edit is a linear transformation of an extrinsic parameter through matrix multiplication.
 4. The apparatus of claim 1, wherein the depth data indicates a distance from a fixed point, where the fixed point is used as a principal point in the calibration data.
 5. The apparatus of claim 1, wherein the edit is at least one or more of rotation, cropping, flipping, skewing, or shearing.
 6. The apparatus of claim 1, wherein the calibration data is stored as a floating point number.
 7. The apparatus of claim 1, wherein the image data is stored as integer values.
 8. The apparatus of claim 1, wherein the edited depth enhanced image includes an original set of calibration data with linear transformation operations made on the depth data, the image data, and the calibration data for a reversion to an original depth enhanced image.
 9. The apparatus of claim 1, wherein the edited depth enhanced image is returned in a container including an indicator that the edited calibration data is read prior to the depth data and the edited image data.
 10. The apparatus of claim 1, wherein the edited depth enhanced image is returned in a container formatted to have an extensible device metadata format.
 11. A method for editing depth enhanced images comprising: storing a received depth enhanced image including image data, depth data, and calibration data; applying an edit to the image data and the calibration data without editing the depth data in response to a request for an image edit; and returning an edited depth enhanced image.
 12. The method of claim 11, wherein the edit is a linear transformation of an intrinsic parameter through matrix multiplication.
 13. The method of claim 11, wherein the edit is a linear transformation of an extrinsic parameter through matrix multiplication.
 14. The method of claim 11, wherein the depth data indicates a distance from a fixed point, where the fixed point is used as a principal point in the calibration data.
 15. The method of claim 11, wherein the edit is at least one or more of rotation, cropping, flipping, skewing, or shearing.
 16. The method of claim 11, wherein the calibration data is stored as a floating point number.
 17. The method of claim 11, wherein the image data is stored as integer values.
 18. The method of claim 11, wherein the edited depth enhanced image includes an original set of calibration data with linear transformation operations made on the depth data, the image data, and the calibration data for a reversion to an original depth enhanced image.
 19. The method of claim 11, wherein the edited depth enhanced image is returned in a container including an indicator that the edited calibration data is read prior to the depth data and the edited image data.
 20. The method of claim 11, wherein the edited depth enhanced image is returned in a container formatted to have an extensible device metadata format.
 21. A tangible, non-transitory, computer-readable medium comprising instructions that, when executed by a processor, direct the processor to: store a received depth enhanced image including image data, depth data, and calibration data; apply an edit to the image data and the calibration data without editing the depth data in response to a request for an image edit; and return an edited depth enhanced image.
 22. The computer-readable medium of claim 21, wherein the edit is a linear transformation of an intrinsic parameter through matrix multiplication.
 23. The computer-readable medium of claim 21, wherein the edit is a linear transformation of an extrinsic parameter through matrix multiplication.
 24. The computer-readable medium of claim 21, wherein the depth data indicates a distance from a fixed point, where the fixed point is used as a principal point in the calibration data.
 25. The computer-readable medium of claim 21, wherein the edit is at least one or more of rotation, cropping, flipping, skewing, or shearing. 